CN111098306A - Calibration method and device of robot, robot and storage medium - Google Patents
Calibration method and device of robot, robot and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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Abstract
The embodiment of the invention discloses a calibration method and a calibration device for a robot, the robot and a storage medium, wherein the method comprises the following steps: determining a calibration starting point of the robot through the marked object; acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point; determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates; and calibrating the robot according to the conversion matrix. The embodiment of the invention realizes the calibration of the robot, converts the coordinates under the graphic coordinate system into the coordinates under the robot coordinate system and improves the positioning accuracy of the robot in the motion process.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a calibration method and device of a robot, the robot and a storage medium.
Background
In daily life, people can realize simple operations through a robot, for example, a robot takes a picture of a target object through a visual photographing device to determine the specific position of the target object, and then moves to the relevant position to grab the target object. The vision photographing equipment adopts an image coordinate system, the robot movement is based on the coordinate system of the robot, and the coordinates under the image coordinate system are converted into the coordinates under the robot coordinate system, so that the robot can accurately move to a target object, namely the calibration of the robot.
The calibration of a robot in the prior art generally adopts a manual teaching method, for example, the robot is manually controlled to move a tool (a component for grasping a target object) mounted thereon to the same target point in a plurality of different postures. However, since it is necessary to judge whether the tool moves to the same target point by human eyes, there is an error inevitably, and the work of manually controlling the robot to reach the same target point in a plurality of different postures and judging whether the robot reaches the same target point by human eyes is not only accurate in positioning but also very time-consuming, and affects work efficiency.
Disclosure of Invention
In view of this, embodiments of the present invention provide a calibration method and apparatus for a robot, and a storage medium, so as to convert coordinates of an image coordinate system into coordinates of a robot coordinate system, calibrate the robot, and improve calibration accuracy.
In a first aspect, an embodiment of the present invention provides a calibration method for a robot, including:
determining a calibration starting point of the robot through the marked object;
acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point;
determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates;
and calibrating the robot according to the conversion matrix.
Further, the obtaining a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point includes:
and taking the calibration starting point as a first point of the calibration movement of the robot, moving the robot for a preset number of times according to a preset track, taking the distance of each movement as a preset distance, and acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system.
Further, the first coordinate is a position coordinate of the robot in the moving process of the robot, and the second coordinate is a pixel coordinate of the marker object, which is acquired by a visual photographing device of the robot in the moving process of the robot.
Further, the first coordinates correspond to the second coordinates one to one.
Further, the preset times are 8 times, the pattern formed by connecting the obtained 8 first coordinates or the obtained 8 second coordinates is a square, and the calibration starting point is located at the center of the square.
Further, the robot coordinate system and the image coordinate system include two coordinate axes, and values in one coordinate axis direction between two adjacent first coordinates or second coordinates are the same.
Further, the determining the calibration starting point of the robot by the marked object includes:
clamping the marked object through a robot execution end, wherein the marked object is provided with a mark point;
moving the marked object to the visual field of the robot visual photographing equipment;
judging whether the mark point is positioned in the center of the visual field of the visual photographing equipment;
and if the marking point is positioned at the center of the visual field of the visual photographing equipment, taking the position of the robot execution end at the moment as a calibration starting point of the robot.
In a second aspect, an embodiment of the present invention provides a calibration apparatus for a robot, including:
the calibration starting point determining module is used for determining a calibration starting point of the robot through the marked object;
the coordinate acquisition module is used for acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point;
the conversion matrix determining module is used for determining a conversion matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates;
and the calibration module is used for calibrating the robot according to the conversion matrix.
In a third aspect, an embodiment of the present invention provides a robot, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the calibration method of the robot provided by any embodiment of the invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the calibration method for a robot provided in any embodiment of the present invention.
The calibration method of the robot provided by the embodiment of the invention determines the calibration starting point of the robot through the marked object; acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point; determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates; and calibrating the robot according to the conversion matrix. The calibration of the robot is realized, the coordinates under the graphic coordinate system are converted into the coordinates under the robot coordinate system, and the positioning accuracy of the robot in the motion process is improved.
Drawings
Fig. 1 is a schematic flowchart of a calibration method for a robot according to an embodiment of the present invention;
fig. 2A is a schematic diagram of a moving track of a robot according to an embodiment of the present invention;
fig. 2B is a schematic diagram of another robot moving track according to the first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a calibration apparatus of a robot according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first coordinate may be referred to as a second coordinate, and similarly, a second coordinate may be referred to as a first coordinate, without departing from the scope of the present application. The first coordinate and the second coordinate are both coordinates, but they are not the same coordinate. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality", "batch" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
Fig. 1 is a flowchart illustrating a calibration method for a robot according to an embodiment of the present invention, which is applicable to converting coordinates in a pixel coordinate system based on a visual photographing of the robot into coordinates in a robot coordinate system. As shown in fig. 1, a calibration method for a robot according to an embodiment of the present invention includes:
and S110, determining a calibration starting point of the robot through the marked object.
Specifically, the marked object may be any object that is preset with a Mark point (Mark point), and the Mark point may be a certain characteristic of the surface of the object, or may be a Mark made on the surface of the object by an external means, for example, the Mark point is a hole on the surface of the object, or the Mark point is a black label adhered on the surface of the object. The calibration starting point is the starting position point of the robot for performing the calibration motion, and the point is the first point of the robot calibration motion of the robot coordinate system, and correspondingly, the marked object is also located at the first point of the robot calibration motion under the image coordinate system.
Further, a method for determining a calibration starting point of the robot by the marking object includes steps S111 to S114 (not shown in the figure).
And S111, clamping the marked object through the robot executing end, wherein the marked object is provided with a marked point.
And S112, moving the marked object to the visual field of the robot visual photographing equipment.
S113, judging whether the mark point is positioned in the center of the visual field of the visual photographing equipment.
And S114, if the mark point is positioned in the center of the visual field of the visual photographing equipment, taking the position of the robot execution end at the moment as a calibration starting point of the robot.
Specifically, the robot actuator is a part of the robot for gripping an object, such as a manipulator, and moves with reference to a robot coordinate system. The visual photographing apparatus is an apparatus for photographing an object in the robot system, for example, a camera, and it should be noted that the visual photographing apparatus may be disposed on the robot body or may not be disposed on the robot body. The pixel position of the object photographed by the visual photographing apparatus is determined with reference to the image coordinate system. And when the marking point of the marking object is positioned at the center of the visual field of the visual photographing equipment, the position of the robot execution end is the calibration starting point of the robot for performing calibration motion.
And S120, acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point.
Specifically, the robot starts to move by taking the calibration starting point as a first point of the calibration movement of the robot, moves for a preset number of times according to a preset track, and the distance moved each time is a preset distance. Illustratively, as shown in fig. 2A, the preset number of times is 8, the robot uses a0 as the first point of the calibration movement of the robot, moves in the counterclockwise direction according to the track sequence of a1, a2, A3, a4, a5, A6, a7 and A8, connects points a1 to A8, forms a square, and a0 is located at the middle position of the square, and such a graph is also called a squared figure. Alternatively, the first point of the robot calibration motion of the robot coordinate system may be set at one corner of the square graph, and the robot moves in a zigzag manner, for example, the first point of the robot calibration motion of the robot coordinate system is set as the upper left corner of the square graph, as shown in fig. 2B, and the moving trajectory of the robot is represented by the point in fig. 2A as: a4, A3, a2, a1, a0, a5, a6, a7, and A8.
The first coordinate in the robot coordinate system is the physical position coordinate of the robot at each point, and the unit is millimeter (mm); the second coordinate in the image coordinate system refers to the pixel coordinate of the marker object photographed by the visual photographing apparatus at each point, and the unit thereof is a pixel (pixel). The first coordinates correspond to the second coordinates one by one, and the numerical value in one coordinate axis direction is the same between two adjacent first coordinates or second coordinates, for example, the abscissa of the point a1 is the same as the abscissa of the point a2, and the ordinate of the point A3 is the same as the ordinate of the point a 4.
For example, in the robot coordinate system, assuming that the horizontal axis in the robot coordinate system is the X axis and the vertical axis is the Y axis, if the preset distance for each movement of the robot is S, the coordinates of the point a0 may be represented as a0(0, 0), and according to the preset distance S, the first coordinates of each point in the robot coordinate system, for example, a0(S, 0), a5(-S, 0), may be calculated. For convenience of description, the first coordinate of each point in the robot coordinate system is denoted as RAi (X)i，Yi) And i is an integer of 0 to 9.
The robot needs to stop running for a period of time when moving to a point, the period of time is preset delay time, the preset delay time is used for sending a photographing instruction to the visual photographing equipment of the robot, so that the visual photographing equipment can photograph a marked object with a marked point, and the pixel coordinate of the marked object at each point, namely the second coordinate under an image coordinate system, is obtained. Let the horizontal axis be the U axis and the vertical axis be the V axis in the image coordinate system, and let the second coordinate of each point in the image coordinate system be CAi (U)i，Vi) And i is an integer of 0 to 9.
S130, determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates.
Specifically, the image coordinate system is converted into the robot coordinate system by performing operations of rotation, translation, and scaling, the rotation is to adjust the horizontal axis of the image coordinate system to be parallel to the horizontal axis of the robot coordinate system, the vertical axis of the image coordinate system to be parallel to the vertical axis of the robot coordinate system, the translation is to move the origin of the image coordinate system to coincide with the origin of the robot coordinate system, and the scaling is to adjust the unit dimensions of the image coordinate system and the robot coordinate system to be identical.
For example, if a point CP (U, V) in the image coordinate system is set, the image coordinate system rotates by an angle θ with the origin of the robot coordinate system as the rotation center, and the point CP is the rotated point CP0(U0，V0) Point CP (U, V) and point CP0(U0，V0) The relationship therebetween can be represented by the formula (1-1).
After the image coordinate system passes through a rotation angle theta, the original point of the image coordinate system needs to be translated a in the horizontal axis direction and translated b in the vertical axis direction to be coincided with the original point of the robot coordinate system, the image coordinate system needs to be scaled α times in the horizontal axis direction and β times in the vertical axis direction to adjust the unit scale to be consistent with the robot coordinate system, and a point CP is set0(U0，V0) After translation and scaling, the point is a point RP (X, Y), which is a point CP (U, V) finally converted into a point in a robot coordinate system, and the point CP0(U0，V0) The relationship with the point RP (X, Y) or the relationship with the point CP (U, V) and the point RP (X, Y) can be expressed by the formula (1-2).
The formula (1-2) is expressed in a matrix form as shown in the formula (1-3).
The first matrix to the left of equation (1-3) is represented by the transformation matrix R, and equation (1-4) is obtained.
The scaling factors α, β can be determined by the unit dimensions of the image coordinate system and the robot coordinate system, and therefore, the transformation matrix R includes three unknowns, namely a rotation angle θ, a horizontal axis offset a and a vertical axis offset b, and 8 first coordinates RAi (X) obtained by moving the robot 8 timesi，Yi) And 8 second coordinates CAi (U)i，Vi) With equations (1-3) or (1-4), 8 different equations can be obtained, and since R includes only 3 unknowns, the transformation matrix R can be calculated by any 3 of the 8 equations.
Optionally, the 8 first coordinates RAi (X) may be first obtainedi，Yi) And 8 second coordinates CAi (U)i，Vi) And removing the points with larger deviation, and selecting 3 points with the minimum deviation to carry out calculation in an expression (1-3) or an expression (1-4), so that the accuracy of calculating the conversion matrix R can be further improved.
And S140, calibrating the robot according to the conversion matrix.
Specifically, the calibration of the robot is to convert the second coordinate in the image coordinate system into the first coordinate in the robot coordinate system. And in the moving process of the robot, multiplying the second coordinate in the image coordinate system by the conversion matrix R to obtain the corresponding first coordinate in the robot coordinate system, wherein the robot can more accurately move to the target object for operation according to the self reference coordinate system.
The calibration method of the robot provided by the embodiment of the invention determines the calibration starting point of the robot through the marked object; acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point; determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates; and calibrating the robot according to the conversion matrix. The calibration of the robot is realized, the coordinates under the graphic coordinate system are converted into the coordinates under the robot coordinate system, and the positioning accuracy of the robot in the motion process is improved.
Example two
Fig. 3 is a schematic structural diagram of a calibration apparatus for a robot according to a second embodiment of the present invention, which is applicable to converting coordinates in a pixel coordinate system based on a visual photographing of the robot into coordinates in a robot coordinate system. The calibration device for the robot according to the second embodiment of the present invention can implement the calibration method for the robot according to any embodiment of the present invention, and has corresponding functional structures and advantageous effects of the implementation method.
As shown in fig. 3, a calibration apparatus for a robot according to a second embodiment of the present invention includes: a calibration start point determination module 310, a coordinate acquisition module 320, a transformation matrix determination module 330, and a calibration module 340.
The calibration starting point determining module 310 is configured to determine a calibration starting point of the robot by using the marked object;
the coordinate obtaining module 320 is configured to obtain a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point;
the transformation matrix determining module 330 is configured to determine a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates;
the calibration module 340 is configured to calibrate the robot according to the transformation matrix.
Further, the coordinate obtaining module 320 is specifically configured to: and taking the calibration starting point as a first point of the calibration movement of the robot, moving the robot for a preset number of times according to a preset track, taking the distance of each movement as a preset distance, and acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system.
Further, the first coordinate is a position coordinate of the robot in the moving process of the robot, and the second coordinate is a pixel coordinate of the marker object, which is acquired by a visual photographing device of the robot in the moving process of the robot.
Further, the first coordinates correspond to the second coordinates one to one.
Further, the preset times are 8 times, the pattern formed by connecting the obtained 8 first coordinates or the obtained 8 second coordinates is a square, and the calibration starting point is located at the center of the square.
Further, the robot coordinate system and the image coordinate system include two coordinate axes, and values in one coordinate axis direction between two adjacent first coordinates or second coordinates are the same.
Further, the calibration start point determining module 310 is specifically configured to: clamping the marked object through a robot execution end, wherein the marked object is provided with a mark point; moving the marked object to the visual field of the robot visual photographing equipment; judging whether the mark point is positioned in the center of the visual field of the visual photographing equipment; and if the marking point is positioned at the center of the visual field of the visual photographing equipment, taking the position of the robot execution end at the moment as a calibration starting point of the robot.
According to the calibration device of the robot provided by the embodiment of the invention, the calibration of the robot is realized through the calibration initial point determining module, the coordinate acquiring module, the conversion matrix determining module and the calibration module, the coordinates in the graphic coordinate system are converted into the coordinates in the robot coordinate system, and the positioning accuracy of the robot in the motion process is improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a robot according to a third embodiment of the present invention, as shown in fig. 4, the robot includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the robot may be one or more, and one processor 410 is taken as an example in fig. 4; the processor 410, the memory 420, the input device 430 and the output device 440 in the robot may be connected by a bus or other means, and fig. 4 illustrates the connection by a bus as an example.
The memory 420 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the calibration method of the robot in the embodiment of the present invention (for example, a calibration start point determining module, a coordinate acquiring module, a transformation matrix determining module, and a calibration module in the calibration device of the robot). The processor 410 executes software programs, instructions and modules stored in the memory 420 to execute various functional applications and data processing of the robot, that is, to implement the calibration method of the robot, which may include:
determining a calibration starting point of the robot through the marked object;
acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point;
determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates;
and calibrating the robot according to the conversion matrix.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the processor 410, which may be connected to the robot through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the robot. The output device 440 may include a display device such as a display screen.
Example four
The fourth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a calibration method for a robot according to any embodiment of the present invention, where the method may include:
determining a calibration starting point of the robot through the marked object;
acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point;
determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates;
and calibrating the robot according to the conversion matrix.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A calibration method of a robot is characterized by comprising the following steps:
determining a calibration starting point of the robot through the marked object;
acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point;
determining a transformation matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates;
and calibrating the robot according to the conversion matrix.
2. The method of claim 1, wherein obtaining a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system from the calibration starting point comprises:
and taking the calibration starting point as a first point of the calibration movement of the robot, moving the robot for a preset number of times according to a preset track, taking the distance of each movement as a preset distance, and acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system.
3. The method of claim 2, wherein the first coordinates are position coordinates of the robot during movement of the robot, and the second coordinates are pixel coordinates of the marking object acquired by a vision photographing apparatus of the robot during movement of the robot.
4. The method of claim 2, wherein the first coordinates correspond one-to-one with the second coordinates.
5. The method according to claim 2, wherein the preset number of times is 8, the obtained 8 first coordinates or second coordinates are connected to form a pattern which is a square, and the calibration starting point is located at the center of the square.
6. The method of claim 5, wherein the robot coordinate system and the image coordinate system include two coordinate axes, and a value in one of the coordinate axes between two adjacent first or second coordinates is the same.
7. The method of claim 1, wherein determining a calibration starting point for the robot by marking the object comprises:
clamping the marked object through a robot execution end, wherein the marked object is provided with a mark point;
moving the marked object to the visual field of the robot visual photographing equipment;
judging whether the mark point is positioned in the center of the visual field of the visual photographing equipment;
and if the marking point is positioned at the center of the visual field of the visual photographing equipment, taking the position of the robot execution end at the moment as a calibration starting point of the robot.
8. A calibration device for a robot, comprising:
the calibration starting point determining module is used for determining a calibration starting point of the robot through the marked object;
the coordinate acquisition module is used for acquiring a plurality of first coordinates based on a robot coordinate system and a plurality of second coordinates based on an image coordinate system according to the calibration starting point;
the conversion matrix determining module is used for determining a conversion matrix from the image coordinate system to the robot coordinate system according to the first coordinates and the second coordinates;
and the calibration module is used for calibrating the robot according to the conversion matrix.
9. A robot, characterized in that the robot comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a calibration method for a robot as claimed in any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a calibration method for a robot according to any one of claims 1-7.
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